\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.90 \% & 88.41 \% & 76.20 \%\\
Car (Orientation) & 93.12 \% & 86.70 \% & 74.53 \%\\
Car (3D Detection) & 21.99 \% & 15.39 \% & 12.73 \%\\
Car (Bird's Eye View) & 28.59 \% & 20.38 \% & 17.14 \%\\
Pedestrian (Detection) & 59.44 \% & 42.86 \% & 38.57 \%\\
Pedestrian (Orientation) & 49.41 \% & 35.11 \% & 31.41 \%\\
Pedestrian (3D Detection) & 15.33 \% & 10.18 \% & 8.61 \%\\
Pedestrian (Bird's Eye View) & 16.66 \% & 10.59 \% & 9.00 \%\\
Cyclist (Detection) & 64.93 \% & 49.48 \% & 42.76 \%\\
Cyclist (Orientation) & 56.40 \% & 42.45 \% & 36.32 \%\\
Cyclist (3D Detection) & 5.05 \% & 3.27 \% & 3.19 \%\\
Cyclist (Bird's Eye View) & 5.84 \% & 4.11 \% & 3.48 \%
\end{tabular}